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   <div id="projectname">Wally The Sentry Bot
   &#160;<span id="projectnumber">0.2</span>
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   <div id="projectbrief">A silly Arduino project to play with sensors, Xbees and a Peggy 2.0 pegboard</div>
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<a href="_wally_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 
<a name="l00005"></a>00005 <span class="preprocessor">#ifndef __Wally_h__</span>
<a name="l00006"></a>00006 <span class="preprocessor"></span><span class="preprocessor">#define __Wally_h__</span>
<a name="l00007"></a>00007 <span class="preprocessor"></span>
<a name="l00008"></a>00008 <span class="comment">// Predefined pins</span>
<a name="l00009"></a><a class="code" href="group___wally.html#ga45e46be398229acec330371dd6c74c50">00009</a> <span class="preprocessor">#define IRpin       A0  ///&lt; analog pin A0 for reading the IR sensor (ORANGE)</span>
<a name="l00010"></a><a class="code" href="group___wally.html#ga922b133f00a73d6baf4852735be6df91">00010</a> <span class="preprocessor"></span><span class="preprocessor">#define LSpin       A1  ///&lt; analog pin A1 for reading the line scanner sensor</span>
<a name="l00011"></a>00011 <span class="preprocessor"></span>                        <span class="comment">// A4 reserved for I2C communication</span>
<a name="l00012"></a>00012                         <span class="comment">// A5 reserved for I2C communication</span>
<a name="l00013"></a><a class="code" href="group___wally.html#ga019e754c756db6ed19d15c5c495e7896">00013</a> <span class="preprocessor">#define xbeeRX       2  ///&lt; digital pin 2 for Xbee UART receive</span>
<a name="l00014"></a><a class="code" href="group___wally.html#gae0d7ee196d1881dc17583655079ed0ee">00014</a> <span class="preprocessor"></span><span class="preprocessor">#define xbeeTX       3  ///&lt; digital pin 3 for Xbee UART transmit</span>
<a name="l00015"></a><a class="code" href="group___wally.html#ga3ce98078523dbaa5786ecc2439fc0a44">00015</a> <span class="preprocessor"></span><span class="preprocessor">#define soundPin     4  ///&lt; digital pin 4 for reading the sound impact sensor (GRAY)</span>
<a name="l00016"></a><a class="code" href="group___wally.html#ga42210bf463abb982e0ba7e66e9cf0524">00016</a> <span class="preprocessor"></span><span class="preprocessor">#define movementPin  5  ///&lt; digital pin 5 for reading the the movement sensor (XXXX WHITE?)</span>
<a name="l00017"></a>00017 <span class="preprocessor"></span>
<a name="l00018"></a>00018 
<a name="l00019"></a><a class="code" href="group___wally.html#ga7c8d9220988a9ffa1bc35ef26c152d7b">00019</a> <span class="preprocessor">#define PINGpin      7  ///&lt; digital pin 7 for reading the PING))) sensor (YELLOW)</span>
<a name="l00020"></a><a class="code" href="group___wally.html#ga58a46f380ee350cbfd6bcf2e028efdbe">00020</a> <span class="preprocessor"></span><span class="preprocessor">#define servoPin     9  ///&lt; digital pin 9 for controlling servo position (PURPLE)</span>
<a name="l00021"></a><a class="code" href="group___wally.html#ga013c3e4a50d0f3f66a295911df3cc0a2">00021</a> <span class="preprocessor"></span><span class="preprocessor">#define LSclockPin  10  ///&lt; digital pin 10 for controlling the line scanner clock signal (XXXXXXX)</span>
<a name="l00022"></a><a class="code" href="group___wally.html#gafdf985a959f5c85d90cda182f3ed7763">00022</a> <span class="preprocessor"></span><span class="preprocessor">#define LSsyncPin   11  ///&lt; digital pin 11 for controlling the line scanner sync signal (XXXXXXX)</span>
<a name="l00023"></a><a class="code" href="group___wally.html#gad29f66110456ba86205034ad1232fca8">00023</a> <span class="preprocessor"></span><span class="preprocessor">#define laserPin    13  ///&lt; digital pin 13 to turn on/off laser (BROWN)</span>
<a name="l00024"></a>00024 <span class="preprocessor"></span>
<a name="l00025"></a><a class="code" href="group___wally.html#gae56d8a3d3c65c31e0806603c89119c97">00025</a> <span class="preprocessor">#define sensorPING   0  ///&lt; numerical representation of the PING))) sensor from Parallax</span>
<a name="l00026"></a><a class="code" href="group___wally.html#gac9037282369cb98c25e1f5ecabf9fde7">00026</a> <span class="preprocessor"></span><span class="preprocessor">#define sensorIR     1  ///&lt; numerical representation of the IR distance sensor from Sharp </span>
<a name="l00027"></a>00027 <span class="preprocessor"></span>
<a name="l00028"></a>00028 <span class="comment">// Defines for the Modelcraft MC-L560 DMG large server</span>
<a name="l00029"></a>00029 <span class="comment">//#define   servoMIN 800        ///&lt; Min PWM for servo at angle 0</span>
<a name="l00030"></a>00030 <span class="comment">//#define servoMAX 2700         ///&lt; Max PWM for servo at angle 360 (I think)</span>
<a name="l00031"></a><a class="code" href="group___wally.html#ga5693c3de30d9155d123f797cb6799ecb">00031</a> <span class="preprocessor">#define servoMaxAngle 160   ///&lt; Max servo angle (physical limitation at about 178)</span>
<a name="l00032"></a>00032 <span class="preprocessor"></span><span class="comment">// Function definitions</span>
<a name="l00046"></a>00046 <span class="comment"></span>uint8_t <a class="code" href="group___wally.html#gae5ae404da647e93afb3bee73104f5a75" title="Perform a full servo rotation sensor sweep Can perform either an initial sweep to build up template a...">sensorSweep</a>(uint8_t, uint8_t, uint8_t);
<a name="l00047"></a>00047 
<a name="l00053"></a>00053 uint16_t <a class="code" href="group___wally.html#ga60d6df90f89c52b974d466c7176e9aca" title="Read sensor and report back distance.">readSensor</a>(uint8_t );
<a name="l00054"></a>00054 
<a name="l00055"></a>00055 
<a name="l00056"></a>00056 
<a name="l00057"></a>00057 <span class="preprocessor">#endif </span><span class="comment">/* __Wally_h__ */</span>
<a name="l00058"></a>00058 
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